| Directory: | ./ |
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| File: | include/tsid/trajectories/trajectory-base.hpp |
| Date: | 2024-08-26 20:29:39 |
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| Lines: | 21 | 23 | 91.3% |
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| 1 | // | ||
| 2 | // Copyright (c) 2017-2021 CNRS | ||
| 3 | // | ||
| 4 | // This file is part of tsid | ||
| 5 | // tsid is free software: you can redistribute it | ||
| 6 | // and/or modify it under the terms of the GNU Lesser General Public | ||
| 7 | // License as published by the Free Software Foundation, either version | ||
| 8 | // 3 of the License, or (at your option) any later version. | ||
| 9 | // tsid is distributed in the hope that it will be | ||
| 10 | // useful, but WITHOUT ANY WARRANTY; without even the implied warranty | ||
| 11 | // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | ||
| 12 | // General Lesser Public License for more details. You should have | ||
| 13 | // received a copy of the GNU Lesser General Public License along with | ||
| 14 | // tsid If not, see | ||
| 15 | // <http://www.gnu.org/licenses/>. | ||
| 16 | // | ||
| 17 | |||
| 18 | #ifndef __invdyn_trajectory_base_hpp__ | ||
| 19 | #define __invdyn_trajectory_base_hpp__ | ||
| 20 | |||
| 21 | #include "tsid/deprecated.hh" | ||
| 22 | #include "tsid/macros.hpp" | ||
| 23 | #include "tsid/math/fwd.hpp" | ||
| 24 | #include "tsid/math/utils.hpp" | ||
| 25 | |||
| 26 | #include <string> | ||
| 27 | |||
| 28 | namespace tsid { | ||
| 29 | namespace trajectories { | ||
| 30 | |||
| 31 | typedef Eigen::Map<const Eigen::Matrix<double, 3, 3>> MapMatrix3; | ||
| 32 | |||
| 33 | class TrajectorySample { | ||
| 34 | public: | ||
| 35 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 36 | |||
| 37 | // TODO rename pos, vel, acc → value, derivative, second_derivative | ||
| 38 | TSID_DEPRECATED math::Vector pos, vel, acc; | ||
| 39 | |||
| 40 | TSID_DISABLE_WARNING_PUSH | ||
| 41 | TSID_DISABLE_WARNING_DEPRECATED | ||
| 42 | // getters / setters with updated names for math::Vector | ||
| 43 | 9015 | const math::Vector& getValue() const { return pos; } | |
| 44 | 10009 | const math::Vector& getDerivative() const { return vel; } | |
| 45 | 9009 | const math::Vector& getSecondDerivative() const { return acc; } | |
| 46 | 9 | void setValue(const math::Vector& value) { pos = value; } | |
| 47 | 1 | void setDerivative(const math::Vector& derivative) { vel = derivative; } | |
| 48 | 1 | void setSecondDerivative(const math::Vector& second_derivative) { | |
| 49 | 1 | acc = second_derivative; | |
| 50 | 1 | } | |
| 51 | |||
| 52 |
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83 | TrajectorySample(unsigned int size = 0) { resize(size); } |
| 53 | |||
| 54 |
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13 | TrajectorySample(unsigned int size_value, unsigned int size_derivative) { |
| 55 |
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13 | resize(size_value, size_derivative); |
| 56 | 13 | } | |
| 57 | |||
| 58 | 108 | void resize(unsigned int size) { resize(size, size); } | |
| 59 | |||
| 60 | 153 | void resize(unsigned int size_value, unsigned int size_derivative) { | |
| 61 | 153 | pos.setZero(size_value); | |
| 62 | 153 | vel.setZero(size_derivative); | |
| 63 | 153 | acc.setZero(size_derivative); | |
| 64 | 153 | } | |
| 65 | |||
| 66 | // declare default constructors / destructors to disable the deprecation | ||
| 67 | // message for them. TODO: Remove this after the | ||
| 68 | // pos/vel/acc → value/derivative/second_derivative rename | ||
| 69 | 12135 | ~TrajectorySample() = default; | |
| 70 |
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12014 | TrajectorySample(const TrajectorySample&) = default; |
| 71 | TSID_DISABLE_WARNING_POP | ||
| 72 | }; | ||
| 73 | |||
| 74 | class TrajectoryBase { | ||
| 75 | public: | ||
| 76 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 77 | |||
| 78 | ✗ | TrajectoryBase(const std::string& name) : m_name(name) {} | |
| 79 | |||
| 80 | 18 | virtual ~TrajectoryBase() {} | |
| 81 | |||
| 82 | virtual unsigned int size() const = 0; | ||
| 83 | |||
| 84 | virtual const TrajectorySample& operator()(double time) = 0; | ||
| 85 | |||
| 86 | virtual const TrajectorySample& computeNext() = 0; | ||
| 87 | |||
| 88 | ✗ | virtual const TrajectorySample& getLastSample() const { return m_sample; } | |
| 89 | |||
| 90 | virtual void getLastSample(TrajectorySample& sample) const = 0; | ||
| 91 | |||
| 92 | virtual bool has_trajectory_ended() const = 0; | ||
| 93 | |||
| 94 | protected: | ||
| 95 | std::string m_name; | ||
| 96 | TrajectorySample m_sample; | ||
| 97 | }; | ||
| 98 | } // namespace trajectories | ||
| 99 | } // namespace tsid | ||
| 100 | |||
| 101 | #endif // ifndef __invdyn_trajectory_base_hpp__ | ||
| 102 |